@evanmj i think that video part still needs to be finished. I dont have a write up. Plus there's still work to do to clean up my dev branch. (Procrastination) But I can gather my stuff and do a write up on my blog.

In short: ROS sends messages, so a listener node listens to these specific messages. That listener is written in Python and that makes it easy to use the Cython bindings. The listener puts segments into a ringbuffer (HAL). Then an interpolator component interpolates the positions so we get a correct position every ms. The reason for that is that ROS has no isochronous segments.